CN111959192A - Crawler-type reconfigurable deformation wheel - Google Patents
Crawler-type reconfigurable deformation wheel Download PDFInfo
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- CN111959192A CN111959192A CN202010902369.7A CN202010902369A CN111959192A CN 111959192 A CN111959192 A CN 111959192A CN 202010902369 A CN202010902369 A CN 202010902369A CN 111959192 A CN111959192 A CN 111959192A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
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Abstract
The invention discloses a wheel-track type reconfigurable deformation wheel, which comprises a fixing device, a wheel-track form deformation device and a track advancing device, wherein the wheel-track form deformation device is arranged on the wheel-track form deformation device; the fixing device comprises a deformation wheel support frame and a U-shaped support frame; the deformation wheel support frame is a stress main body of the deformation wheel; the U-shaped support frame is arranged on the deformation wheel support frame and is positioned inside the deformation wheel; the wheel-track shape deformation device comprises a deformation transmission mechanism and a deformation connecting rod structure, wherein the deformation transmission mechanism is used for driving the deformation connecting rod structure to extend or retract relative to the deformation wheel supporting frame; the transmission part of the crawler traveling device is arranged on the deformation wheel support frame, and the elastic crawler wraps the outer contour of the deformation wheel and is in contact with the deformation connecting rod structure. The wheel-track type reconfigurable deformation wheel has the capability of freely switching two forms and high bearing capacity, is simple in implementation mode, high in reliability and wide in application range in more fields, and can be applied to rapid movement and obstacle-crossing rescue of a robot during post-disaster fire rescue.
Description
Technical Field
The invention relates to the technical field of robot chassis, in particular to a wheel-track type reconfigurable deformation wheel.
Background
In view of the current situation of China, the urbanization process of China is accelerated, the urban infrastructure construction process is also obviously accelerated, but the urbanization level of underdeveloped areas such as the west is still to be improved, so that the terrains in living environments of people are various, the terrains include hard streets, stairs and garden greenbelts in cities, and mountains, snowfields and muddy marshes in remote areas, and the chassis is required to be adapted to the complex terrains to ensure the smooth implementation of tasks in military operations or emergency rescue and disaster relief.
In view of the global scope, the development and research of mobile chassis capable of coping with complex terrains, such as local war participated after second world war in the united states, have shown great demand for unmanned aerial vehicles and ground equipment, so that it started to implement "urban area military operation advanced concept technology demonstration plan (moutcatd)" in 1997, which is intended to make urban battles of army more acceptable, more feasible, avoid causing casualties of operational personnel, and thus achieve strategic and political objectives. Meanwhile, other developed countries such as English, French, Germany and Japanese are also researching the relevant special ground operation platform.
Generally, the motion modes of the chassis of the robot are classified into wheel type, crawler type, leg type and their combination modes, wheel leg type, leg track type, wheel track type and wheel track leg type. In the three movement modes of wheel type, crawler type and leg type, under the same condition, the wheel type can reach the highest movement speed, the energy efficiency is the highest, the control mode and the mechanical structure are the simplest, but the obstacle crossing capability such as climbing and stair climbing capability is poor; the crawler type reachable speed is lower than that of a wheel type, the energy efficiency is lower, the control mode is approximately the same as that of the wheel type, the mechanical structure complexity is lower, the obstacle crossing capability is moderate, and the crawler type obstacle crossing device can adapt to most of complex road surfaces; the leg type can reach a lower speed, the mechanical structure complexity is higher, the obstacle crossing capability is highest, but the control mode is complex, and the reliability is poorer; therefore, in the combination of the three, the motion mode comprising the leg structure needs more complicated control, and the reliability in a complex environment is poorer, so that the wheel-track type reconfigurable deformation wheel can effectively respond to the complex land environment, and the rescue purpose is achieved.
Disclosure of Invention
The invention aims to provide a wheel-track type reconfigurable deformation wheel, which solves the problems in the prior art, has the capability of freely switching two forms and high bearing capacity, is simple in implementation mode, high in reliability and wide in application range in more fields, and can be applied to rapid movement and obstacle crossing rescue of a robot during post-disaster fire rescue.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a wheel-track type reconfigurable deformation wheel, which comprises a fixing device, a wheel-track shape deformation device and a track advancing device; the fixing device is positioned in the center of the deformation wheel and is used for providing a mounting position for other devices; the wheel-track shape deformation devices are arranged on the left side and the right side of the fixing device and are used for finishing the mutual conversion between the deformed wheel-track shape and the deformed wheel shape; the crawler traveling device is arranged in the center of the fixing device and outside the deformation wheel and is used for moving the deformation wheel.
Preferably, the fixing device comprises a deformation wheel support frame, a U-shaped support frame and a protective shell; the deformation wheel support frame is a stressed main body of the wheel, and through holes which can be coaxially matched with all the devices are formed in the support frame; the U-shaped support frame is U-shaped, is provided with two holes which are symmetrically distributed left and right, is fixedly connected with the deformation wheel and is arranged in the deformation wheel, and provides a cylindrical mounting hole for the wheel-track shape deformation device and the track advancing device; the protective housing is circular, and the top has a plurality of cylinder holes, through a plurality of screws, nut with the deformation wheel support frame is installed together, plays the guard action to deformation wheel inside.
Preferably, the wheel-track form deformation device comprises a deformation transmission mechanism and a deformation connecting rod structure. The deformation transmission mechanism is used for transmitting the power of the motor to finish the deformation of the deformation device and comprises a transmission shaft A, a transmission shaft B, a bevel gear A, a bevel gear B, a worm wheel and a worm wheel bearing; one end of the transmission shaft A is externally connected with a motor, the power of the motor is transmitted to the rear end to complete the form conversion of the deformation wheel, and the other end of the transmission shaft A is fixedly connected with the bevel gear A; the middle of the transmission shaft B is fixedly connected with a bevel gear B, the two ends of the transmission shaft B are of worm structures, and the bevel gear B and a bevel gear A on the transmission shaft A form a gear pair connection; the two worm wheels are symmetrically distributed in the left and right directions and can rotate around a central fixed shaft through the matching of a worm wheel bearing, a bolt and a U-shaped support, the worm wheels are matched with a worm structure on the transmission shaft B, so that the power of the transmission shaft A is transmitted to the left worm wheel and the right worm wheel, and the worm wheels are fixedly connected with the short connecting rods, so that the worm wheels drive the worm wheels to rotate, and the worm wheels further drive the short connecting rods to rotate around the fixed shaft.
Preferably, the two deformation link mechanisms are distributed in bilateral symmetry and have the functions of transmitting power and supporting the elastic crawler belt to complete the free conversion between the wheel state and the crawler state of the deformation wheel, wherein one of the deformation link mechanisms comprises a short link, a long link, an arc-shaped swing rod and a roller shaft A; one end of the short connecting rod is fixedly connected with the worm wheel, the fixed shaft rotates along with the rotation of the worm wheel, and the other end of the short connecting rod is provided with a cylindrical hole; the upper end and the lower end of the long connecting rod are provided with two cylindrical holes, and the cylindrical hole at the upper end is connected with the cylindrical hole on the short connecting rod through a rotating pair and can move under the driving of the short connecting rod; the arc-shaped swing rod is arc-shaped, the radius of the outer end of the arc-shaped swing rod is equal to the radius of the outer aid profile of the deformation wheel supporting frame, three cylindrical holes are formed in the arc-shaped swing rod, and the cylindrical hole at the bottom end of the arc-shaped swing rod is connected with a cylindrical hole B in the deformation wheel supporting frame through a bolt to form a revolute pair so that the arc-shaped swing rod can rotate around the cylindrical hole; the middle cylindrical hole and the cylindrical hole at the lower end of the long connecting rod form a revolute pair connection, so that the arc-shaped oscillating bar is driven by the long connecting rod to swing in a fixed shaft manner;
preferably, the number of the roller shafts A is 6, 3 groups of the roller shafts A are arranged on each deformation connecting rod mechanism, and the roller shafts A are respectively arranged on 3 cylindrical holes in the arc-shaped swing rod and comprise a roller A, a roller bearing B, a gasket and a bolt A; the roller A forms a revolute pair connection with the bolt A through the bearing A, the bearing B and the gasket, so that the roller A can rotate around the bolt fixed shaft.
Preferably, when the wheel-track reconfigurable deforming wheel is changed from a wheel state to a track state, the motor rotates to drive the transmission shaft A to rotate, the transmission shaft B and the worm wheel drive the short connecting rod fixed shaft to rotate, and the long connecting rod drives the arc oscillating bar fixed shaft to swing to drive the roller shaft A at the front end to support the elastic track, so that the change of the wheel-track reconfigurable deforming wheel from the wheel state to the track state is completed.
Preferably, the crawler traveling device comprises a transmission shaft C, a gear set A, a gear set B, a gear set C, a crawler gear, an elastic crawler and a roller shaft B; one end of the transmission shaft C is connected with the motor through a central cylindrical hole in the center of the deformation wheel supporting frame, and the other end of the transmission shaft C is fixedly connected with the gear set A; the gear set A rotates along with the fixed shaft of the transmission shaft C; the gear set B and the gear set C form gear pair coupling and are used for transmitting the power of the gear set A to the gear set C; the gear set C and the gear set B form gear pair connection and are used for transmitting the power of the gear set B; the crawler belt gear is fixedly connected with the gear set C, and power transmitted by the gear is transmitted to the elastic crawler belt, so that the elastic crawler belt can rotate around the outline of the deformed wheel, and the deformed wheel moves forwards;
preferably, the roller shafts B are respectively mounted on the cylindrical holes a on the deformation wheel support frame in 6 groups, and function to make the elastic track rotate around the deformation wheel more smoothly, and include a roller B, a roller bearing C and a bolt B; the roller B forms a revolute pair connection with the bolt B through the roller bearing C, so that the roller B can rotate around the bolt B in a fixed shaft mode.
Preferably, when the crawler traveling device operates, the power generated by the motor is transmitted through the transmission shaft C, the gear set A, B, C and the crawler gear to drive the elastic crawler to rotate relatively around the contour of the deformed wheel, so as to realize the advancing and steering of the robot with the deformed wheel.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the wheel-tracked reconfigurable deformation wheel provided by the invention adopts a modular design concept, can realize modular production, reduces the manufacturing cost and difficulty, and is suitable for large-scale popularization and use.
2. The crawler-type reconfigurable deformation wheel provided by the invention has the advantages of high rigidity, good stability and flexible movement; the free switching of the wheel-track forms can be realized, the special position of a dead point and the characteristic of the stability of a triangle are fully utilized in the design process, and the wheel body movement is ensured.
3. The wheel-crawler type reconfigurable deformation wheel provided by the invention is simple in structure, simple in implementation mode and high in reliability, can be widely applied to a chassis of a post-disaster rescue robot, and can accelerate the moving speed and improve the rescue efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a front view of an internal structure of a wheel-track reconfigurable deforming wheel hiding protective shell according to the invention;
FIG. 2 is a reverse isometric view of the wheel-track reconfigurable deformable wheel of the present invention;
FIG. 3 is a front isometric view of a wheel-track reconfigurable deformable wheel of the present invention;
FIG. 4 is a front view of the wheel body of the present invention after the deformation wheel is hidden in the protective shell;
FIG. 5 is a schematic view of the deformation actuator of the present invention;
FIG. 6 is a schematic diagram of the deformed linkage mechanism of the present invention in an exploded assembly;
FIG. 7 is an isometric view of the deployed wheels of the present invention with the deformable wheel hidden in the protective shell;
FIG. 8 is an exploded view of a roller axle A according to the present invention;
FIG. 9 is an exploded view of a roller axle B according to the present invention;
FIG. 10 is a schematic view of a support frame for a transformable wheel in accordance with the present invention;
in the figure: 100-a fixing device, 101-a protective shell, 102-a deformation wheel support frame and 103-U-shaped support frames; 1021-cylindrical bore A, 1022-cylindrical bore B; 1023-a central cylindrical bore;
200-wheel-track shape deformation device, 210-deformation transmission mechanism, 220-deformation link mechanism, 201-transmission shaft A, 2011-bevel gear A, 202-transmission shaft B, 2021 bevel gear B, 2022-worm structure, 203-worm wheel, 2031-worm wheel bearing, 204-short link, 205-long link, 206-arc swing rod, 207-roller shaft A, 2071-roller A, 2072-roller bearing A, 2073-roller bearing B, 2074-gasket and 2075-bolt A;
300-crawler travel device, 301-drive shaft C, 302-gear set A, 303-gear set B, 304-gear set C, 305-crawler gear, 306-elastic crawler, 307-roller shaft B, 3071-roller B, 3072-roller bearing C, 3073-bolt B.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a wheel-track type reconfigurable deformation wheel, which solves the problems in the prior art, has the capability of freely switching two forms and high bearing capacity, is simple in implementation mode, high in reliability and wide in application range in more fields, and can be applied to rapid movement and obstacle crossing rescue of a robot during post-disaster fire rescue.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The present embodiment provides a wheel-track reconfigurable deformable wheel, as shown in fig. 1, 2, and 4, including a fixing device 100, a wheel-track form deforming device 200, and a track traveling device 300; the fixing device 100 is positioned in the center of the deformation wheel; the wheel-track form deformation devices 200 are arranged at the left side and the right side of the fixing device 100; the crawler belt 300 is installed at the center of the fixing device 100 and outside the transformable wheel.
As shown in fig. 1, 2, 3 and 10, the fixing device 100 includes a deforming wheel supporting frame 102, a U-shaped supporting frame 103, and a protective case 101; the deformation wheel support frame 102 is a stressed main body of a wheel and is provided with 6 cylindrical holes A1021, 2 cylindrical holes B1022, a central cylindrical hole 1023 and a plurality of matching holes; the U-shaped support frame 103 is U-shaped, has two holes which are distributed in bilateral symmetry, is fixedly connected with the deformation wheel support frame 102 and is arranged in the deformation wheel, and provides installation cylindrical holes for the wheel-track shape deformation device 200 and the track advancing device 300; the protective shell 101 is circular and is mounted with the deformation wheel support frame 102 to protect the inside of the deformation wheel.
As shown in fig. 2, 4, 5, 6 and 8, the wheel-track form deforming device includes a deforming transmission mechanism 210 and a deforming link structure 220. The deformation transmission mechanism 210 is used for transmitting the power of the motor to finish the deformation of the deformation device 200 and comprises a transmission shaft A201, a transmission shaft B202, a bevel gear A2011, a bevel gear B2021, a worm structure 2022, a worm wheel 203 and a worm wheel bearing 2031; one end of the transmission shaft A201 is externally connected with a motor, the power of the motor is transmitted to the rear end to complete the form conversion of the deformation wheel, and the other end of the transmission shaft A201 is fixedly connected with a bevel gear A2011; the middle of the transmission shaft B202 is fixedly connected with a bevel gear B2021, the two ends of the transmission shaft B202 are provided with worm structures 2022, and the bevel gear B2021 and a bevel gear A2011 on the transmission shaft A201 form a gear pair connection; the two worm gears 203 are symmetrically distributed left and right, and can rotate around a central fixed shaft by matching the worm gear bearing 2031 with the U-shaped support frame 103, the worm gears 203 are matched with the worm structure 2022 on the transmission shaft B202, so that the power of the transmission shaft A201 is transmitted to the left and right worm gears 203, and the worm structure 2022 drives the worm gears to rotate because the worm gears 203 are fixedly connected with the short connecting rods 204, and the worm gears 203 further drive the short connecting rods 204 to rotate in a fixed shaft manner.
As shown in fig. 4, 6 and 8, the two deformed link mechanisms 220 are symmetrically distributed in the left-right direction and have the functions of transmitting power and supporting the elastic crawler 306 to complete the free conversion between the wheel state and the crawler state of the deformed wheel, wherein one of the deformed link mechanisms 220 comprises a short link 204, a long link 205, an arc-shaped swing rod 206 and a roller shaft a 207; one end of the short connecting rod 204 is fixedly connected with the worm wheel 203, and rotates with the worm wheel 203 in a fixed shaft manner, and the other end of the short connecting rod 204 is provided with a cylindrical hole; the upper end and the lower end of the long connecting rod 0205 are provided with two cylindrical holes, the cylindrical hole at the upper end is connected with the cylindrical hole on the short connecting rod 204 through a revolute pair and can move under the driving of the short connecting rod 204; the arc-shaped swing rod 206 is arc-shaped, the radius of the outer end of the arc-shaped swing rod is equal to the radius of the outer contour of the deformation wheel support frame 102, three cylindrical holes are formed in the arc-shaped swing rod 206, and the cylindrical hole at the bottom end of the arc-shaped swing rod is connected with the cylindrical hole B1022 in the deformation wheel support frame 102 in a rotating pair mode, so that the arc-shaped swing rod 206 can rotate around the cylindrical hole B1022; the middle cylindrical hole and the cylindrical hole at the lower end of the long connecting rod 205 form a revolute pair connection, so that the arc-shaped swing rod 206 is driven by the long connecting rod 205 to swing in a fixed shaft manner;
as shown in fig. 4, 6 and 8, the roller shaft a207 has 6 groups, and each deformed link mechanism 220 is provided with 3 groups, which are respectively mounted on 3 cylindrical holes on the arc-shaped swing rod 206, and comprises a roller a2071, a roller bearing a2072, a roller bearing B2073, a spacer 2074 and a bolt a 2075; the roller a2071 forms a revolute pair coupling with the bolt a2075 via the roller bearing a2072, the roller bearing B2073 and the spacer 2074, so that the roller a2071 can be rotated in a fixed axis.
As shown in fig. 2, 3, 7, 9 and 10, the track traveling device 300 includes a drive shaft C301, a gear set a302, a gear set B303, a gear set C304, a track gear 305, an elastic track 306 and a roller shaft B307; one end of the transmission shaft C301 is connected with the motor through a central cylindrical hole 1023 in the center of the deformation wheel support frame 102, and the other end of the transmission shaft C301 is fixedly connected with the gear set A302; gear set A302 rotates along with the fixed shaft of transmission shaft C301; gear set B303 forms a gear pair coupling with gear set C304 and functions to transfer the power of gear set a302 to gear set C304; the gear set C304 and the gear set B303 form a gear pair coupling and are used for transmitting the power of the gear set B303; the track gear 305 is fixedly connected with the gear set C304, and transmits the power transmitted by the gear C304 to the elastic track 306, so that the elastic track 306 can rotate around the deformed wheel profile, thereby enabling the deformed wheel to travel.
As shown in fig. 7, 9 and 10, the roller shafts B307 are 6 groups, and are respectively installed on the cylindrical holes a1021 on the deformation wheel support frame 102, and function to make the elastic crawler 306 rotate around the deformation wheel more smoothly, and include rollers B3071, roller bearings C3072 and bolts B3073; the roller B3071 is coupled to the bolt B3073 via a roller bearing C3072 to form a revolute pair, so that the roller B3071 can be fixed-axis rotated about the bolt B3073.
The invention provides a wheel-track type reconfigurable deformation wheel, which specifically adopts the following working principle:
when the wheel-track reconfigurable deformation wheel provided by the invention works, power generated by an external motor is transmitted by a transmission shaft C301, a gear set A302, a gear set B303, a gear set C304 and a track gear 305 to drive an elastic track 306 to rotate relatively around the outline of the deformation wheel, so that the deformation wheel is driven to move.
The wheel-track reconfigurable deformation wheel provided by the invention has two forms, namely a wheel type as shown in fig. 1 and a track type as shown in fig. 4, when a robot moves forwards on a straight road, the deformation wheel is a wheel type, and at the moment, a short connecting rod 204 and a long connecting rod 205 of a deformation connecting rod mechanism 220 are overlapped and collinear to generate a first dead point; if an obstacle is encountered in the advancing process, the deformation wheel is driven by the deformation transmission mechanism 210, the short connecting rod 204 rotates in a fixed axis mode until the short connecting rod 204 and the long connecting rod 205 are collinear to generate a second dead point position, the deformation wheel is unfolded into a crawler type at the moment, the elastic crawler 306 is supported to be in a triangular shape shown in fig. 6, the triangular shape has high stability so as to ensure that the deformation wheel smoothly advances, and meanwhile, due to the existence of the triangular shape, the robot integrally passes through the obstacle in front more easily; during the transformation of the two forms of the deformed wheel, the crawler belt 306 is always kept in close fit with the roller shaft A207 and the roller shaft B307 on the deformed wheel profile.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. A wheel-track type reconfigurable deformation wheel is characterized in that: comprises a fixing device, a wheel-track shape deformation device and a track advancing device; the fixing device is positioned in the center of the deformation wheel; the wheel-track shape deformation devices are arranged on the left side and the right side of the fixing device;
the fixing device comprises a deformation wheel support frame and a U-shaped support frame; the deformation wheel support frame is a stress main body of the deformation wheel; the U-shaped support frame is arranged on the deformation wheel support frame and is positioned inside the deformation wheel;
the wheel track shape deformation device comprises a deformation transmission mechanism and a deformation connecting rod structure, wherein the deformation transmission mechanism is used for driving the deformation connecting rod structure to extend or retract relative to the deformation wheel support frame;
the transmission part of the crawler traveling device is arranged on the deformation wheel support frame, and the elastic crawler wraps the outer contour of the deformation wheel and is in contact with the deformation connecting rod structure.
2. The wheel-track reconfigurable deformable wheel of claim 1, wherein: the fixing device further comprises a protective shell, a cavity is formed between the protective shell and the deformation wheel supporting frame, and the deformation transmission mechanism of the wheel-track shape deformation device and the transmission part of the track advancing device are arranged in the cavity.
3. The wheel-track reconfigurable deformable wheel of claim 1, wherein: the deformation transmission mechanism comprises a transmission shaft A, a transmission shaft B, a bevel gear A, a bevel gear B, a worm wheel and a worm wheel bearing; one end of the transmission shaft A is fixedly connected with the bevel gear A; a bevel gear B is mounted in the middle of the transmission shaft B, and the bevel gear A is meshed with the bevel gear B; two ends of the transmission shaft B are of worm structures, the number of the worm wheels is two, the two worm wheels are installed on the U-shaped supporting frame in a matched mode through worm wheel bearings, and the two worm wheels are matched with the worm structures on the transmission shaft B respectively.
4. The wheel-track reconfigurable deformable wheel of claim 3, wherein: the deformation connecting rod mechanisms are symmetrically distributed on two sides of the deformation wheel, and each deformation connecting rod mechanism comprises a short connecting rod, a long connecting rod, an arc-shaped swing rod and a roller shaft A; the short connecting rod is coaxially arranged with the worm gear and rotates in a fixed shaft manner along with the rotation of the worm gear; one end of the long connecting rod is connected with the tail end of the short connecting rod, and the other end of the long connecting rod is connected with the arc-shaped swinging part through a roller shaft A; the arc-shaped swing rod can swing in a fixed shaft mode along with the movement of the long connecting rod.
5. The wheel-track reconfigurable deformable wheel of claim 4, wherein: the number of the roller shafts A is 6, 3 groups of the roller shafts A are arranged on each deformation connecting rod mechanism and are respectively arranged on 3 cylindrical holes on the arc-shaped swing rod, and each roller shaft A comprises a roller A, a roller bearing B, a gasket and a bolt A; the roller A forms a revolute pair connection with the bolt A through the roller bearing A, the roller bearing B and the gasket, so that the roller A can rotate around the bolt A in a fixed shaft mode.
6. The wheel-track reconfigurable deformable wheel of claim 1, wherein: the crawler travelling device comprises a transmission shaft C, a gear set A, a gear set B, a gear set C and a crawler gear; one end of the transmission shaft C is connected with the motor through a central cylindrical hole in the center of the deformation wheel supporting frame, and the other end of the transmission shaft C is fixedly connected with the gear set A; the gear set A rotates along with the fixed shaft of the transmission shaft C; the gear set B and the gear set C form gear pair connection, the crawler belt gear is fixedly connected with the gear set C, power transmitted by the gear set C is transmitted to the elastic crawler belt, the elastic crawler belt can rotate around the outline of the deformed wheel, and therefore the deformed wheel moves forwards.
7. The wheel-track reconfigurable deformable wheel of claim 6, wherein: the crawler traveling device further comprises 6 groups of roller shafts B which are respectively arranged on cylindrical holes in the deformation wheel supporting frame, and each roller shaft B comprises a roller B, a roller bearing C and a bolt B; the roller B forms a revolute pair connection with the bolt B through a roller bearing C, and the roller B can rotate around the bolt B in a fixed shaft mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010902369.7A CN111959192B (en) | 2020-09-01 | 2020-09-01 | Crawler-type reconfigurable deformation wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010902369.7A CN111959192B (en) | 2020-09-01 | 2020-09-01 | Crawler-type reconfigurable deformation wheel |
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| CN111959192A true CN111959192A (en) | 2020-11-20 |
| CN111959192B CN111959192B (en) | 2021-10-01 |
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